CN105195437A - Assembly line visual detection sorting system capable of being flexibly configured - Google Patents
Assembly line visual detection sorting system capable of being flexibly configured Download PDFInfo
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- CN105195437A CN105195437A CN201510606744.2A CN201510606744A CN105195437A CN 105195437 A CN105195437 A CN 105195437A CN 201510606744 A CN201510606744 A CN 201510606744A CN 105195437 A CN105195437 A CN 105195437A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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Abstract
The invention provides an assembly line visual detection sorting system capable of being flexibly configured. The system comprises a plurality of logic sorting units. Each logic sorting unit comprises a trigger and M cameras and N picking devices which share a material ID produced by the trigger, wherein M and N are integers larger than or equal to 1. Each camera is connected with the corresponding trigger through a camera delay module. Each picking device is connected with the corresponding trigger through a picking delay module. The single fixed logic relation among a trigger, cameras and picking devices in a traditional assembly line visual detection sorting system is broken through, and the configuration flexibility of the cameras and the picking devices is enhanced, so that the flexible configuration and expansion of a detection station and a picking station are achieved, the system development period is greatly shortened, and the flexibility is greatly improved.
Description
Technical field
The present invention relates to vision-based detection sorting technology field, specifically a kind of can the streamline vision-based detection separation system of flexible configuration.
Background technology
Based on streamline vision-based detection separation system usually by streamline conveyer belt, trigger, camera (comprise light source, camera and light source usually with the use of, can be used as a logical whole), pick the composition such as materials device, main control system.Trigger, camera and pick materials device complete under organic cooperation of main control system material to be checked location, take pictures, pick the functions such as material.
Specifically, main control system, by the triggering signal time delay Delay1 of trigger, controls the triggering of camera and light source thereof, makes it the material accurate imaging on pipeline; Main control system again according to the result of determination of material image by triggering signal time delay Delay2, and accurate for the defect ware in material sorting is rejected by the enable materials device that picks.
Traditional streamline vision-based detection separation system, trigger, camera and the logical relation of picking between materials device relatively fixing, can not the new detection demand that constantly proposes of flexible adaptation client, and material station can not be picked carry out flexible configuration and flexible dilatation the detection station newly increased.Therefore, be necessary to design a kind of can the streamline vision-based detection separation system of flexible configuration, to solve this flexibility problem.
Summary of the invention
The object of the present invention is to provide a kind of can the streamline vision-based detection separation system of flexible configuration, the logical relation controlling multiple trigger, camera flexibly and pick between materials device, realizes the dynamic-configuration of logical relation.
Technical scheme of the present invention is:
A kind of can the streamline vision-based detection separation system of flexible configuration, this system comprises some logic separation units, each logic separation unit includes a trigger and shares M the camera of the material ID that this trigger produces and N number ofly pick materials device, and wherein, M, N are the integer being more than or equal to 1;
Each camera is all connected with described trigger by a camera time delay module; Described camera time delay module is for the corresponding time delay queue of the material ID generated with described trigger produces, when the time delay in described time delay queue arrives, trigger camera to take, sent to by the material ID after time delay camera to embed in the image of its shooting simultaneously;
Each pick materials device all by one pick material time delay module be connected with described trigger; The described material time delay module that picks is for the corresponding time delay queue of the material ID generated with described trigger produces, and according to the processing result image that camera is taken, the time delay corresponding to material ID bad in described time delay queue identifies, and when time delay arrives, picks materials device according to mark is enable.
Described can the streamline vision-based detection separation system of flexible configuration, described camera time delay module comprises triggering signal and selects module, ID generation module, time block, time delay generation module, two-port RAM, time delay ID generation module and comparison module;
Described triggering signal selects module, for the configuration information according to camera, selects one as trigger source from some triggers;
Described ID generation module, for when receiving triggering signal, generates material ID, and using material ID as write pointer, points to the write port address of two-port RAM;
Described time block, for generation of timestamp;
Described time delay generation module, adds up for timestamp material time delay and time block produced, and writes increasing the timestamp after time delay in memory space corresponding to the write port address of the two-port RAM that corresponding material ID points to, forms time delay queue;
Described two-port RAM, for storing time delay queue;
Described time delay ID generation module, for generating the material ID after time delay, and using the material ID after time delay as read pointer, points to the read port address of two-port RAM;
Described comparison module, for the time delay in time delay queue and current time being compared, when time delay arriving, controlling time delay ID generation module and corresponding material ID after time delay is sent to camera, triggering camera and take.
Described can the streamline vision-based detection separation system of flexible configuration, described in pick material time delay module and comprise triggering signal and select module, ID generation module, time block, time delay generation module, true two-port RAM, time delay ID generation module, NG_ID enquiry module, NG mark to add module and multilevel iudge module;
Described triggering signal selects module, for according to the configuration information picking materials device, selects one as trigger source from some triggers;
Described ID generation module, for when receiving triggering signal, generating material ID, and using material ID as the first write pointer, pointing to the first write port address of true two-port RAM;
Described time block, for generation of timestamp;
Described time delay generation module, adds up for timestamp material time delay and time block produced, and writes increasing the timestamp after time delay in memory space corresponding to the first write port address of the true two-port RAM that corresponding material ID points to, forms time delay queue;
Described true two-port RAM, for storing time delay queue;
Described time delay ID generation module, for generating the material ID after time delay, and using the material ID after time delay as the first read pointer, points to the first read port address of true two-port RAM;
Described NG_ID enquiry module, the processing result image for providing according to main control system obtains bad material ID, and using bad material ID as the second read pointer and the second write pointer, points to the second read port address and the second write port address of true two-port RAM;
Described NG mark adds module, adds NG mark for giving the time delay that in time delay queue, bad material ID is corresponding;
Described multilevel iudge module, for the time delay in time delay queue and current time being compared, when time delay arrives, if time delay has NG mark, then enablely picks materials device.
As shown from the above technical solution, the present invention to have broken in conventional pipeline vision-based detection separation system trigger, camera and has picked single fixing logical relation between materials device, enhance camera and the flexibility of picking materials device configuration, thus achieve the flexible configuration and the dilatation that detect station and pick material station, system development cycle shortens greatly, and flexibility is greatly improved.
Accompanying drawing explanation
Fig. 1 is logic separation unit schematic diagram of the present invention;
Fig. 2 is camera time delay module schematic diagram of the present invention;
Fig. 3 is that of the present invention picking expects time delay module schematic diagram.
Detailed description of the invention
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, a kind of can the streamline vision-based detection separation system of flexible configuration, wherein association one group of camera 2 and one group are picked materials device 3 by any one trigger 1, simultaneously in order to the accurate correspondence ensureing to take pictures and material is rejected, trigger 1 is utilized to produce material ID, and material ID is associated with algorithm judged result with collection visual pattern after certain time-delay, even if system midway packet is lost (transmission cable etc. as artificial fragmentary picture) like this, after to be restored, system still can normally be run.
One group of camera 2 can be made up of (M >=1) M camera 21, and they share the material ID that a trigger 1 produces, and complete the task of taking pictures respectively under respective time delay.One group is picked materials device 3 and can be made up of (N >=1) N number of materials device 31 that picks, and their relative triggers 1 have different delay values, but shares identical material ID.M camera 21 upon taking a picture, send image to main control system to process, analyze and produce that N number of result is corresponding respectively N number ofly picks materials device 31, the material ID corresponding according to result, each materials device 31 that picks optionally is rejected material under respective time delay, completes complicated vision-based detection separation system carries out sorting object to material.
Such as, detecting on station at one has four cameras, 21 pairs of materials to take respectively, different according to design, the moment of its shooting is different, but share same trigger 1(near this detection station), the treated analysis of four width images produced has two kinds of different defects, needs two to pick materials device 31 sorting and enters two different charging conduits.Because each material is encoded separately through trigger 1, number containing ID, this ID numbers the whole signal path that will be associated with image procossing and result action, share with organizing ID with the materials device 31 that picks in group, different defect result is assigned to different picking on materials device 31 by main control system, completes the complicated sorting of material.
Camera 21 has band command triggers function, and will comprise material ID in order and number, this material ID, by embedded images packet, sends main control system to and carries out image procossing, can obtain the ID numbering that bad material is corresponding, i.e. NG_ID from result.
Picking materials device 31 can be magnetic valve, cylinder or other electrical equipments.
In order to realize the flexible configuration of system, but hardware circuit is given each camera 21 and picks materials device 31 and design unified relatively independent camera time delay module 20 respectively and pick materials device time delay module 30, wherein each module is by independently configuration register dynamic-configuration trigger source.The camera 21 of same trigger 1 is selected automatically to be classified as same group; In like manner, the materials device 31 that picks of same trigger 1 is selected also automatically to be classified as same group.
As shown in Figure 2, give a camera time delay module 20, comprise MUX 201, camera configuration register 202, ID generation module 203, time block 204, delay register 205, adder 206, two-port RAM 207, time delay ID generation module 208 and comparison module 209.ID generation module 203 and time delay ID generation module 208 all adopt accumulator.ID generation module 203, two-port RAM 207 and time delay ID generation module 208 form a FIFO memory.
MUX 201, according to the configuration information of camera configuration register 202, selects one as trigger source from some triggers 1; When receiving triggering signal, ID generation module 203 generates material ID, and using material ID as write pointer, points to the write port address of two-port RAM 207; Simultaneously, material time delay is sent to adder 206 by delay register 205, the timestamp that time block 204 produces by adder 206 and material delay accumulation, and the timestamp after the increase time delay obtained is write in memory space corresponding to the write port address of two-port RAM 207 that corresponding material ID points to, form time delay queue.
Time delay ID generation module 208 generates the material ID after time delay, and using the material ID after time delay as read pointer, points to the read port address of two-port RAM 207; Time delay in time delay queue and current time compare by comparison module 209, when delay time equals current time, explanation time delay arrives, control time delay ID generation module 208 by corresponding material ID(after time delay and current read pointer) send to camera 21, trigger camera 21 and take.
As shown in Figure 3, give one and pick material time delay module 30, comprise MUX 301, pick material configuration register 302, ID generation module 303, time block 304, delay register 305, adder 306, true two-port RAM 307, time delay ID generation module 308, NG_ID enquiry module 309, the interpolation of NG mark module 310, comparison module 311 and judge module 312.ID generation module 303 and time delay ID generation module 308 all adopt accumulator.True two-port RAM 307 has two write ports and two read ports.ID generation module 303, true two-port RAM 307 and time delay ID generation module 308 form a FIFO memory.
MUX 301, according to the configuration information picking material configuration register 302, selects one as trigger source from some triggers; When receiving triggering signal, ID generation module 303 generates material ID, and using material ID as the first write pointer, points to the first write port address of true two-port RAM 307; Simultaneously, material time delay is sent to adder 306 by delay register 305, the timestamp that time block 304 produces by adder 306 and material delay accumulation, and the timestamp after the increase time delay obtained is write in memory space corresponding to the first write port address of true two-port RAM 307 that corresponding material ID points to, form time delay queue.
Time delay ID generation module 308 generates the material ID after time delay, and using the material ID after time delay as the first read pointer, points to the first read port address of true two-port RAM 307; NG_ID enquiry module 309 obtains bad material ID according to the processing result image that main control system provides, and using bad material ID as the second read pointer and the second write pointer, points to the second read port address and the second write port address of true two-port RAM 307; The time delay that bad material ID is corresponding reads from the second read port of true two-port RAM 307, after NG mark interpolation module 310 adds NG mark (substandard products mark), memory location before writing back it from the second write port of true two-port RAM 307 again, thus form the time delay queue containing NG mark.
Time delay in time delay queue and current time compare by comparison module 311, when delay time equals current time, illustrate that time delay arrives, and now, then judge whether time delay has NG and identify, and if so, then enablely picks materials device 31 by judge module 312.
The timestamp precision that the delay precision of system is produced by time block determines, proper within the scope of 0.1us ~ 0.4us in actual use.
The reference time delay of system is determined by the product of delay precision and time delay queue depth, if delay precision is 0.4us, time delay queue depth is 4096, then maximum delay scope is 1.6s.
The above embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determine.
Claims (3)
1. one kind can the streamline vision-based detection separation system of flexible configuration, it is characterized in that: this system comprises some logic separation units, each logic separation unit includes a trigger and shares M the camera of the material ID that this trigger produces and N number ofly pick materials device, wherein, M, N are the integer being more than or equal to 1;
Each camera is all connected with described trigger by a camera time delay module; Described camera time delay module is for the corresponding time delay queue of the material ID generated with described trigger produces, when the time delay in described time delay queue arrives, trigger camera to take, sent to by the material ID after time delay camera to embed in the image of its shooting simultaneously;
Each pick materials device all by one pick material time delay module be connected with described trigger; The described material time delay module that picks is for the corresponding time delay queue of the material ID generated with described trigger produces, and according to the processing result image that camera is taken, the time delay corresponding to material ID bad in described time delay queue identifies, and when time delay arrives, picks materials device according to mark is enable.
2. according to claim 1 can the streamline vision-based detection separation system of flexible configuration, it is characterized in that: described camera time delay module comprises triggering signal and selects module, ID generation module, time block, time delay generation module, two-port RAM, time delay ID generation module and comparison module;
Described triggering signal selects module, for the configuration information according to camera, selects one as trigger source from some triggers;
Described ID generation module, for when receiving triggering signal, generates material ID, and using material ID as write pointer, points to the write port address of two-port RAM;
Described time block, for generation of timestamp;
Described time delay generation module, adds up for timestamp material time delay and time block produced, and writes increasing the timestamp after time delay in memory space corresponding to the write port address of the two-port RAM that corresponding material ID points to, forms time delay queue;
Described two-port RAM, for storing time delay queue;
Described time delay ID generation module, for generating the material ID after time delay, and using the material ID after time delay as read pointer, points to the read port address of two-port RAM;
Described comparison module, for the time delay in time delay queue and current time being compared, when time delay arriving, controlling time delay ID generation module and corresponding material ID after time delay is sent to camera, triggering camera and take.
3. according to claim 1 can the streamline vision-based detection separation system of flexible configuration, it is characterized in that: described in pick material time delay module and comprise triggering signal and select module, ID generation module, time block, time delay generation module, true two-port RAM, time delay ID generation module, NG_ID enquiry module, NG mark to add module and multilevel iudge module;
Described triggering signal selects module, for according to the configuration information picking materials device, selects one as trigger source from some triggers;
Described ID generation module, for when receiving triggering signal, generating material ID, and using material ID as the first write pointer, pointing to the first write port address of true two-port RAM;
Described time block, for generation of timestamp;
Described time delay generation module, adds up for timestamp material time delay and time block produced, and writes increasing the timestamp after time delay in memory space corresponding to the first write port address of the true two-port RAM that corresponding material ID points to, forms time delay queue;
Described true two-port RAM, for storing time delay queue;
Described time delay ID generation module, for generating the material ID after time delay, and using the material ID after time delay as the first read pointer, points to the first read port address of true two-port RAM;
Described NG_ID enquiry module, the processing result image for providing according to main control system obtains bad material ID, and using bad material ID as the second read pointer and the second write pointer, points to the second read port address and the second write port address of true two-port RAM;
Described NG mark adds module, adds NG mark for giving the time delay that in time delay queue, bad material ID is corresponding;
Described multilevel iudge module, for the time delay in time delay queue and current time being compared, when time delay arrives, if time delay has NG mark, then enablely picks materials device.
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| CN111420900A (en) * | 2020-03-25 | 2020-07-17 | 无锡信捷电气股份有限公司 | Kicking-off method of sorting machine |
| CN114035471A (en) * | 2021-11-09 | 2022-02-11 | 征图新视(江苏)科技股份有限公司 | Synchronous tracking method for online detection |
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